南京理工大学学报（自然科学版）2015，Vol.34Issue(4)：452-459,8.DOI:10.14177/j.cnki.32-1397n.2015.39.04.012
基于自抗扰技术的汽车变传动比转向控制
Vehicle variable ratio steering control based on active disturbance rejection technology
摘要
Abstract
Aiming at the shortages of steering characteristics of a vehicle with an invariable steering ratio,a control algorithm of the feedforward and active disturbance rejection feedback is proposed for the active front steering(AFS)of a vehicle. Feedforward controller and active disturbance rejection feedback controller( ADRFC) are designed. A variable steering ratio from 12 to 24 is realized by a feedforward controller,and desired yaw rate is tracked by ADRFC. The closed-loop control model of a vehicle is established to control a CarSim vehicle model to carry out the double lane change test, steering wheel angle step input test and μ-split test, and simulation results are compared with the PID control. The simulating results show that the designed controllers can implement variable ratio steering, and the vehicle has good tracking performance, small response overshoot, short response time and strong disturbance rejection,and various performance are better than the PID control,and controllability and stability are improved.关键词
自抗扰技术/主动前轮转向/变传动比/操纵稳定性/自抗扰控制器/PID控制Key words
active disturbance rejection technology/active front steering/variable steering ratio/handling and stability/active disturbance rejection controller/PID control分类
交通工程引用本文复制引用
白玉,桑楠..基于自抗扰技术的汽车变传动比转向控制[J].南京理工大学学报（自然科学版）,2015,34(4):452-459,8.基金项目
国家自然科学基金(51205191) （51205191）
